The ArmarXPhysicsWorldVisualization class organizes the Coin3D visualization of the physics scene. It connects to the SimulatorVisuUpdate topic in order to retrieve the visualization stream of the current simulated environment. All scene changes (new objects / removed objects) are handled by checking the current setup with the retrieved one. More...

#include <ArmarXSimulation/components/ArmarXPhysicsWorldVisualization/ArmarXPhysicsWorldVisualization.h>

Inheritance diagram for ArmarXPhysicsWorldVisualization:

Public Types
using	RecursiveLockPtr = std::shared_ptr< std::unique_lock< std::recursive_mutex > >

Public Types inherited from ManagedIceObject
using	PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >>

Public Member Functions
void	addFloorVisualization (Eigen::Vector3f floorPos, Eigen::Vector3f floorUp, float floorExtendMM, std::string floorTexture)

void	addVisualization (VirtualRobot::RobotPtr ro, VirtualRobot::SceneObject::VisualizationType visuType=VirtualRobot::SceneObject::Full)

void	addVisualization (VirtualRobot::SceneObjectPtr so, VirtualRobot::SceneObject::VisualizationType visuType=VirtualRobot::SceneObject::Full)

	ArmarXPhysicsWorldVisualization ()

SoNode *	buildVisu (VirtualRobot::RobotPtr ro, VirtualRobot::SceneObject::VisualizationType visuType=VirtualRobot::SceneObject::Full)
	buildVisu Creates visualization with increased ref counter. More...

SoNode *	buildVisu (VirtualRobot::SceneObjectPtr o, VirtualRobot::SceneObject::VisualizationType visuType=VirtualRobot::SceneObject::Full)
	buildVisu Creates visualization with increased ref counter. More...

PropertyDefinitionsPtr	createPropertyDefinitions () override

void	enableVisuType (bool fullModel)

std::string	getDefaultName () const override
	Retrieve default name of component. More...

VirtualRobot::SceneObjectPtr	getObject (const std::string &name)

std::vector< VirtualRobot::SceneObjectPtr >	getObjects () const

VirtualRobot::RobotPtr	getRobot (const std::string &name)

std::vector< VirtualRobot::RobotPtr >	getRobots () const

RecursiveLockPtr	getScopedDataLock ()

RecursiveLockPtr	getScopedLock ()

Ice::Long	getSyncTimestamp () const
	getSyncTimestamp More...

float	getSyncVisuTime ()

SoSeparator *	getViewableScene ()
	Returns the scene without floor (allows for better viewAll handling) More...

SoSeparator *	getVisualization ()
	getVisu returns the visualization that is synchronized with ArmarXPhysicsWorld More...

void	onConnectComponent () override
	Pure virtual hook for the subclass. More...

void	onDisconnectComponent () override
	Hook for subclass. More...

void	onExitComponent () override
	Hook for subclass. More...

void	onInitComponent () override
	Pure virtual hook for the subclass. More...

void	releaseResources ()

void	removeObjectVisualization (const std::string &name)

void	removeRobotVisualization (const std::string &name)

void	removeVisualization (VirtualRobot::RobotPtr r)

void	removeVisualization (VirtualRobot::SceneObjectPtr so)

void	reportSceneUpdated (const ::armarx::SceneVisuData &actualData, const ::Ice::Current &=Ice::emptyCurrent) override

void	setMutex (std::shared_ptr< std::recursive_mutex > const &m)

void	showBaseCoord (bool enable, float scale=5.0f)

bool	synchronizeVisualizationData ()
	Show/hide contacts. More...

	~ArmarXPhysicsWorldVisualization () override

Public Member Functions inherited from Component
virtual void	componentPropertiesUpdated (const std::set< std::string > &changedProperties)
	Implement this function if you would like to react to changes in the properties. More...

void	forceComponentCreatedByComponentCreateFunc ()
	forces the flag to be set to true that the object instance was created by the Component::create function More...

std::vector< PropertyUserPtr >	getAdditionalPropertyUsers () const

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name)

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name) const

template<class T >
void	getProperty (std::atomic< T > &val, const std::string &name) const

template<class T >
void	getProperty (T &val, const std::string &name) const

template<class ProxyType >
ProxyType	getProxyFromProperty (const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Get a proxy whose name is specified by the given property. More...

template<class ProxyType >
void	getProxyFromProperty (ProxyType &proxy, const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)

template<class TopicProxyType >
TopicProxyType	getTopicFromProperty (const std::string &propertyName)
	Get a topic proxy whose name is specified by the given property. More...

template<class TopicProxyType >
void	getTopicFromProperty (TopicProxyType &top, const std::string &propertyName)

void	initializeProperties (const std::string &configName, Ice::PropertiesPtr const &properties, const std::string &configDomain)
	initializes the properties of this component. More...

void	injectPropertyDefinitions (PropertyDefinitionsPtr &props) override

void	offeringTopicFromProperty (const std::string &propertyName)
	Offer a topic whose name is specified by the given property. More...

virtual void	preOnConnectComponent () override

virtual void	preOnInitComponent () override

bool	usingProxyFromProperty (const std::string &propertyName, const std::string &endpoints="")
	Use a proxy whose name is specified by the given property. More...

void	usingTopicFromProperty (const std::string &propertyName, bool orderedPublishing=false)
	Use a topic whose name is specified by the given property. More...

Public Member Functions inherited from ManagedIceObject
void	enableProfiler (bool enable)
	setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer) More...

std::string	generateSubObjectName (const std::string &subObjectName)
	Generates a unique name for a sub object from a general name. More...

ArmarXManagerPtr	getArmarXManager () const
	Returns the ArmarX manager used to add and remove components. More...

ManagedIceObjectConnectivity	getConnectivity () const
	Retrieve connectivity of the object (topcis as well as proxies) More...

IceManagerPtr	getIceManager () const
	Returns the IceManager. More...

VariantBasePtr	getMetaInfo (const std::string &id)

StringVariantBaseMap	getMetaInfoMap () const

std::string	getName () const
	Retrieve name of object. More...

Ice::ObjectAdapterPtr	getObjectAdapter () const
	Returns object's Ice adapter. More...

ArmarXObjectSchedulerPtr	getObjectScheduler () const

PeriodicTaskPtr	getPeriodicTask (const std::string &name)

Profiler::ProfilerPtr	getProfiler () const
	getProfiler returns an instance of armarx::Profiler More...

template<class ProxyTarg , class... Args>
void	getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&... args)

template<class ProxyType >
ProxyType	getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Retrieves a proxy object. More...

template<class ProxyTarg , class... Args>
void	getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&... args)

template<class ProxyTarg , class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&... args)

template<class ProxyTarg , class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&... args)
	Assigns a proxy to `proxy`. More...

Ice::ObjectPrx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const
	Returns the proxy of this object (optionally it waits for the proxy) More...

template<class Prx >
Prx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const

template<class ProxyType >
void	getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Overload to allow using string literals as name (solve ambiguous overload). More...

template<class Prx >
void	getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const

int	getState () const
	Retrieve current state of the ManagedIceObject. More...

template<class TopicProxyType >
TopicProxyType	getTopic (const std::string &name)
	Returns a proxy of the specified topic. More...

template<class TopicProxyType >
void	getTopic (TopicProxyType &topicProxy, const std::string &name)
	Assigns a proxy of the specified topic to `topicProxy`. More...

std::vector< std::string >	getUnresolvedDependencies () const
	returns the names of all unresolved dependencies More...

	ManagedIceObject (ManagedIceObject const &other)

void	offeringTopic (const std::string &name)
	Registers a topic for retrival after initialization. More...

void	preambleGetTopic (std::string const &name)

void	setMetaInfo (const std::string &id, const VariantBasePtr &value)
	Allows to set meta information that can be queried live via Ice interface on the ArmarXManager. More...

void	startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true)

bool	stopPeriodicTask (const std::string &name)

bool	unsubscribeFromTopic (const std::string &name)
	Unsubscribe from a topic. More...

bool	usingProxy (const std::string &name, const std::string &endpoints="")
	Registers a proxy for retrieval after initialization and adds it to the dependency list. More...

void	usingTopic (const std::string &name, bool orderedPublishing=false)
	Registers a proxy for subscription after initialization. More...

void	waitForObjectScheduler ()
	Waits until the ObjectScheduler could resolve all dependencies. More...

void	waitForProxy (std::string const &name, bool addToDependencies)

Public Member Functions inherited from Logging
SpamFilterDataPtr	deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
	disables the logging for the current line for the given amount of seconds. More...

MessageTypeT	getEffectiveLoggingLevel () const

	Logging ()

void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More...

void	setTag (const LogTag &tag)

void	setTag (const std::string &tagName)

virtual	~Logging ()

Public Member Functions inherited from PropertyUser
std::vector< std::string >	getComponentProxyNames ()

Ice::PropertiesPtr	getIceProperties () const
	Returns the set of Ice properties. More...

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name)
	Property creation and retrieval. More...

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name) const
	Hack to allow using getProperty in `const`-modified methods. More...

template<class T >
void	getProperty (std::atomic< T > &val, const std::string &name) const

template<class T >
void	getProperty (T &val, const std::string &name) const

template<class T >
std::vector< T >	getPropertyAsCSV (const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)

template<class ContainerT >
void	getPropertyAsCSV (ContainerT &val, const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)

PropertyDefinitionsPtr	getPropertyDefinitions ()
	Returns the component's property definition container. More...

std::vector< std::string >	getSubscribedTopicNames ()

std::vector< std::string >	getTopicProxyNames ()

bool	hasProperty (const std::string &name)

	PropertyUser ()

virtual void	setIceProperties (Ice::PropertiesPtr properties)
	Sets the Ice properties. More...

bool	tryAddProperty (const std::string &propertyName, const std::string &value)

virtual void	updateIceProperties (const std::map< std::string, std::string > &changes)

void	updateProperties ()

void	updateProxies (IceManagerPtr)

	~PropertyUser () override

Protected Member Functions
bool	createPrimitiveObject (ObjectVisuPrimitivePtr objectPrimitiveData, const std::string &name)

bool	loadObject (const ObjectVisuData &obj)

bool	loadObject (const std::string &objectFile, const std::string &project, const std::string &instanceName)

bool	loadRobot (const std::string &robotName, const std::string &robotFile, const std::string &project, float scaling, bool colModel)

void	removeFloorVisualization ()

bool	synchronizeFloor ()

bool	synchronizeObjects ()

bool	synchronizeRobots ()

bool	synchronizeSceneObjectPoses (NamePoseMap &objMap, NameValueMap &jvMap, VirtualRobot::SceneObjectPtr currentObjVisu)

Protected Member Functions inherited from Component
void	addPropertyUser (const PropertyUserPtr &subPropertyUser)
	Add additional property users here that should show up in the application help text. More...

	Component ()
	Protected default constructor. Used for virtual inheritance. Use createManagedIceObject() instead. More...

std::string	getConfigDomain ()
	Retrieve config domain for this component as set in constructor. More...

std::string	getConfigIdentifier ()
	Retrieve config identifier for this component as set in constructor. More...

std::string	getConfigName ()
	Retrieve config name for this component as set in constructor. More...

virtual void	icePropertiesInitialized ()

Protected Member Functions inherited from ManagedIceObject
template<class PluginT , class... ParamsT>
PluginT *	addPlugin (const std::string prefix="", ParamsT &&... params)

template<class PluginT , class... ParamsT>
void	addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&... params)

template<class PluginT , class... ParamsT>
void	addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&... params)

Ice::CommunicatorPtr	getCommunicator () const

std::unique_ptr< ManagedIceObjectPlugin > &	getPluginPointer (std::type_info const &type, std::string const &prefix)

	ManagedIceObject ()
	Protected default constructor. More...

virtual void	postOnConnectComponent ()

virtual void	postOnDisconnectComponent ()

virtual void	postOnExitComponent ()

virtual void	postOnInitComponent ()

virtual void	preOnDisconnectComponent ()

virtual void	preOnExitComponent ()

bool	removeProxyDependency (const std::string &name)
	This function removes the dependency of this object on the in parameter name specified object. More...

void	setName (std::string name)
	Override name of well-known object. More...

void	terminate ()
	Initiates termination of this IceManagedObject. More...

	~ManagedIceObject () override

Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const

const LogSenderPtr &	getLogSender () const
	Retrieve log sender. More...

LogSenderPtr	loghelper (const char file, int line, const char function) const

Protected Attributes
std::map< VirtualRobot::RobotPtr, SoNode * >	addedRobotVisualizations

std::map< VirtualRobot::SceneObjectPtr, SoNode * >	addedVisualizations

SoSeparator *	baseCoordVisu

SoSeparator *	coinVisu

SceneVisuData	currentSceneData

SoSeparator *	dynamicsVisu

SoSeparator *	floorVisu

SceneVisuData	lastSceneData

VirtualRobot::SceneObject::VisualizationType	modelType

std::shared_ptr< std::recursive_mutex >	mutex
	mutex to protect access to visualization models More...

std::shared_ptr< std::recursive_mutex >	mutexData
	mutex to process SceneData More...

SoSeparator *	sceneViewableSep

float	synchronize2TimeMS

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Additional Inherited Members
Static Public Member Functions inherited from Component
template<class T , class TPtr = IceInternal::Handle<T>>
static TPtr	create (Ice::PropertiesPtr properties=Ice::createProperties(), const std::string &configName="", const std::string &configDomain="ArmarX")
	Factory method for a component. More...

Static Public Member Functions inherited from ManagedIceObject
static std::string	generateSubObjectName (const std::string &superObjectName, const std::string &subObjectName)
	Generates a unique name for a sub object from a general name and unique name. More...

static std::string	GetObjectStateAsString (int state)

Static Public Attributes inherited from ManagedIceObject
static const ManagedIceObjectPtr	NullPtr
	A nullptr to be used when a const ref to a nullptr is required. More...

Detailed Description

The ArmarXPhysicsWorldVisualization class organizes the Coin3D visualization of the physics scene. It connects to the SimulatorVisuUpdate topic in order to retrieve the visualization stream of the current simulated environment. All scene changes (new objects / removed objects) are handled by checking the current setup with the retrieved one.

Definition at line 69 of file ArmarXPhysicsWorldVisualization.h.

Member Typedef Documentation

◆ RecursiveLockPtr

using RecursiveLockPtr = std::shared_ptr<std::unique_lock<std::recursive_mutex> >

Definition at line 163 of file ArmarXPhysicsWorldVisualization.h.

Constructor & Destructor Documentation

◆ ArmarXPhysicsWorldVisualization()

ArmarXPhysicsWorldVisualization ( )

Definition at line 48 of file ArmarXPhysicsWorldVisualization.cpp.

◆ ~ArmarXPhysicsWorldVisualization()

~ArmarXPhysicsWorldVisualization ( )

override

Definition at line 75 of file ArmarXPhysicsWorldVisualization.cpp.

Member Function Documentation

◆ addFloorVisualization()

void addFloorVisualization	(	Eigen::Vector3f	floorPos,
		Eigen::Vector3f	floorUp,
		float	floorExtendMM,
		std::string	floorTexture
	)

Definition at line 234 of file ArmarXPhysicsWorldVisualization.cpp.

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◆ addVisualization() [1/2]

void addVisualization	(	VirtualRobot::RobotPtr	ro,
		VirtualRobot::SceneObject::VisualizationType	visuType = `VirtualRobot::SceneObject::Full`
	)

Definition at line 211 of file ArmarXPhysicsWorldVisualization.cpp.

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◆ addVisualization() [2/2]

void addVisualization	(	VirtualRobot::SceneObjectPtr	so,
		VirtualRobot::SceneObject::VisualizationType	visuType = `VirtualRobot::SceneObject::Full`
	)

◆ buildVisu() [1/2]

SoNode * buildVisu	(	VirtualRobot::RobotPtr	ro,
		VirtualRobot::SceneObject::VisualizationType	visuType = `VirtualRobot::SceneObject::Full`
	)

buildVisu Creates visualization with increased ref counter.

Parameters

ro
visuType

Returns

Definition at line 163 of file ArmarXPhysicsWorldVisualization.cpp.

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◆ buildVisu() [2/2]

SoNode* buildVisu	(	VirtualRobot::SceneObjectPtr	o,
		VirtualRobot::SceneObject::VisualizationType	visuType = `VirtualRobot::SceneObject::Full`
	)

buildVisu Creates visualization with increased ref counter.

Parameters

o
visuType

Returns

◆ createPrimitiveObject()

bool createPrimitiveObject	(	ObjectVisuPrimitivePtr	objectPrimitiveData,
		const std::string &	name
	)

protected

Definition at line 1067 of file ArmarXPhysicsWorldVisualization.cpp.

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◆ createPropertyDefinitions()

PropertyDefinitionsPtr createPropertyDefinitions ( )

inlineoverridevirtual

See also: PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

Definition at line 115 of file ArmarXPhysicsWorldVisualization.h.

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◆ enableVisuType()

void enableVisuType ( bool fullModel )

Definition at line 396 of file ArmarXPhysicsWorldVisualization.cpp.

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◆ getDefaultName()

std::string getDefaultName ( ) const

inlineoverridevirtual

Retrieve default name of component.

Implement this method in each IceManagedObject. The default name of a is used if no name is specified in the factory method.

Returns: default name of the component (e.g. "KinematicUnit")

Implements ManagedIceObject.

Definition at line 82 of file ArmarXPhysicsWorldVisualization.h.

◆ getObject()

SceneObjectPtr getObject ( const std::string & name )

Definition at line 1020 of file ArmarXPhysicsWorldVisualization.cpp.

◆ getObjects()

std::vector< SceneObjectPtr > getObjects ( ) const

Definition at line 1047 of file ArmarXPhysicsWorldVisualization.cpp.

◆ getRobot()

RobotPtr getRobot ( const std::string & name )

Definition at line 1165 of file ArmarXPhysicsWorldVisualization.cpp.

◆ getRobots()

std::vector< RobotPtr > getRobots ( ) const

Definition at line 1034 of file ArmarXPhysicsWorldVisualization.cpp.

◆ getScopedDataLock()

auto getScopedDataLock ( )

Definition at line 486 of file ArmarXPhysicsWorldVisualization.cpp.

◆ getScopedLock()

auto getScopedLock ( )

Definition at line 479 of file ArmarXPhysicsWorldVisualization.cpp.

◆ getSyncTimestamp()

Ice::Long getSyncTimestamp ( ) const

getSyncTimestamp

Returns: time in microseconds

Definition at line 1060 of file ArmarXPhysicsWorldVisualization.cpp.

◆ getSyncVisuTime()

float getSyncVisuTime ( )

Definition at line 841 of file ArmarXPhysicsWorldVisualization.cpp.

◆ getViewableScene()

SoSeparator * getViewableScene ( )

Returns the scene without floor (allows for better viewAll handling)

Returns

Definition at line 145 of file ArmarXPhysicsWorldVisualization.cpp.

◆ getVisualization()

SoSeparator * getVisualization ( )

getVisu returns the visualization that is synchronized with ArmarXPhysicsWorld

Returns

Definition at line 139 of file ArmarXPhysicsWorldVisualization.cpp.

◆ loadObject() [1/2]

bool loadObject ( const ObjectVisuData & obj )

protected

Definition at line 847 of file ArmarXPhysicsWorldVisualization.cpp.

◆ loadObject() [2/2]

bool loadObject	(	const std::string &	objectFile,
		const std::string &	project,
		const std::string &	instanceName
	)

protected

Definition at line 947 of file ArmarXPhysicsWorldVisualization.cpp.

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◆ loadRobot()

bool loadRobot	(	const std::string &	robotName,
		const std::string &	robotFile,
		const std::string &	project,
		float	scaling,
		bool	colModel
	)

protected

Definition at line 868 of file ArmarXPhysicsWorldVisualization.cpp.

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◆ onConnectComponent()

void onConnectComponent ( )

overridevirtual

Pure virtual hook for the subclass.

Is called once all dependencies of the object have been resolved and Ice connection is established. This hook is called whenever the dependencies are found. That means if the a depedency crashes or shuts down, the ManagedIceObject goes into disconnected state. When the dependencies are found again, this hook is called again.

See also: onDisconnectComponent()

Implements ManagedIceObject.

Definition at line 115 of file ArmarXPhysicsWorldVisualization.cpp.

◆ onDisconnectComponent()

void onDisconnectComponent ( )

overridevirtual

Hook for subclass.

Is called if a dependency of the object got lost (crash, network error, stopped, ...). This hook should be the inverse to onConnectComponent(). So that onDisconnectComponent() and onConnectComponent() can be called alternatingly and the ManagedIceObject remains in valid states. *

See also: onConnectComponent

Reimplemented from ManagedIceObject.

Definition at line 120 of file ArmarXPhysicsWorldVisualization.cpp.

◆ onExitComponent()

void onExitComponent ( )

overridevirtual

Hook for subclass.

Is called once the component terminates. Use for cleanup. Only called once.

Reimplemented from ManagedIceObject.

Definition at line 125 of file ArmarXPhysicsWorldVisualization.cpp.

◆ onInitComponent()

void onInitComponent ( )

overridevirtual

Pure virtual hook for the subclass.

Is called once initialization of the ManagedIceObject is done. This hook is called in the implenting class once and never again during the lifecyle of the object. This function is called as soon as the ManagedIceObject was added to the ArmarXManager. Called in an own thread and not the thread it was created in.

Implements ManagedIceObject.

Definition at line 106 of file ArmarXPhysicsWorldVisualization.cpp.

◆ releaseResources()

void releaseResources ( )

Definition at line 92 of file ArmarXPhysicsWorldVisualization.cpp.

◆ removeFloorVisualization()

void removeFloorVisualization ( )

protected

Definition at line 258 of file ArmarXPhysicsWorldVisualization.cpp.

◆ removeObjectVisualization()

void removeObjectVisualization ( const std::string & name )

Definition at line 331 of file ArmarXPhysicsWorldVisualization.cpp.

◆ removeRobotVisualization()

void removeRobotVisualization ( const std::string & name )

Definition at line 355 of file ArmarXPhysicsWorldVisualization.cpp.

◆ removeVisualization() [1/2]

void removeVisualization ( VirtualRobot::RobotPtr r )

Definition at line 377 of file ArmarXPhysicsWorldVisualization.cpp.

◆ removeVisualization() [2/2]

void removeVisualization ( VirtualRobot::SceneObjectPtr so )

◆ reportSceneUpdated()

void reportSceneUpdated	(	const ::armarx::SceneVisuData &	actualData,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Inherited from SimulatorListenerInterface. This method is called when the simulator publishes a scene update. For now the complete scene is described in the SyeneVisuData format.

Definition at line 130 of file ArmarXPhysicsWorldVisualization.cpp.

◆ setMutex()

void setMutex ( std::shared_ptr< std::recursive_mutex > const & m )

Definition at line 473 of file ArmarXPhysicsWorldVisualization.cpp.

◆ showBaseCoord()

void showBaseCoord	(	bool	enable,
		float	scale = `5.0f`
	)

Definition at line 266 of file ArmarXPhysicsWorldVisualization.cpp.

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◆ synchronizeFloor()

bool synchronizeFloor ( )

protected

Definition at line 561 of file ArmarXPhysicsWorldVisualization.cpp.

◆ synchronizeObjects()

bool synchronizeObjects ( )

protected

Definition at line 687 of file ArmarXPhysicsWorldVisualization.cpp.

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◆ synchronizeRobots()

bool synchronizeRobots ( )

protected

Definition at line 585 of file ArmarXPhysicsWorldVisualization.cpp.

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◆ synchronizeSceneObjectPoses()

bool synchronizeSceneObjectPoses	(	NamePoseMap &	objMap,
		NameValueMap &	jvMap,
		VirtualRobot::SceneObjectPtr	currentObjVisu
	)

protected

Definition at line 500 of file ArmarXPhysicsWorldVisualization.cpp.

◆ synchronizeVisualizationData()

bool synchronizeVisualizationData ( )

Show/hide contacts.

Parameters

enable

Update the contact visualization Draws an arrow at each contact Does nothing if enableContacts is false

synchronizeVisualizationData Updates world poses of all objects of the visualization according to the current state of the physics engine.

Returns: True on success.

Definition at line 776 of file ArmarXPhysicsWorldVisualization.cpp.

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Member Data Documentation

◆ addedRobotVisualizations

std::map<VirtualRobot::RobotPtr, SoNode*> addedRobotVisualizations

protected

Definition at line 224 of file ArmarXPhysicsWorldVisualization.h.

◆ addedVisualizations

std::map<VirtualRobot::SceneObjectPtr, SoNode*> addedVisualizations

protected

Definition at line 223 of file ArmarXPhysicsWorldVisualization.h.

◆ baseCoordVisu

SoSeparator* baseCoordVisu

protected

Definition at line 218 of file ArmarXPhysicsWorldVisualization.h.

◆ coinVisu

SoSeparator* coinVisu

protected

Definition at line 216 of file ArmarXPhysicsWorldVisualization.h.

◆ currentSceneData

SceneVisuData currentSceneData

protected

Definition at line 236 of file ArmarXPhysicsWorldVisualization.h.

◆ dynamicsVisu

SoSeparator* dynamicsVisu

protected

Definition at line 217 of file ArmarXPhysicsWorldVisualization.h.

◆ floorVisu

SoSeparator* floorVisu

protected

Definition at line 221 of file ArmarXPhysicsWorldVisualization.h.

◆ lastSceneData

SceneVisuData lastSceneData

protected

Definition at line 237 of file ArmarXPhysicsWorldVisualization.h.

◆ modelType

VirtualRobot::SceneObject::VisualizationType modelType

protected

Definition at line 239 of file ArmarXPhysicsWorldVisualization.h.

◆ mutex

std::shared_ptr<std::recursive_mutex> mutex

protected

mutex to protect access to visualization models

Definition at line 231 of file ArmarXPhysicsWorldVisualization.h.

◆ mutexData

std::shared_ptr<std::recursive_mutex> mutexData

protected

mutex to process SceneData

Definition at line 234 of file ArmarXPhysicsWorldVisualization.h.

◆ sceneViewableSep

SoSeparator* sceneViewableSep

protected

Definition at line 220 of file ArmarXPhysicsWorldVisualization.h.

◆ synchronize2TimeMS

float synchronize2TimeMS

protected

Definition at line 226 of file ArmarXPhysicsWorldVisualization.h.

The documentation for this class was generated from the following files:

ArmarXSimulation/components/ArmarXPhysicsWorldVisualization/ArmarXPhysicsWorldVisualization.h
ArmarXSimulation/components/ArmarXPhysicsWorldVisualization/ArmarXPhysicsWorldVisualization.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ RecursiveLockPtr

Constructor & Destructor Documentation

◆ ArmarXPhysicsWorldVisualization()

◆ ~ArmarXPhysicsWorldVisualization()

Member Function Documentation

◆ addFloorVisualization()

◆ addVisualization() [1/2]

◆ addVisualization() [2/2]

◆ buildVisu() [1/2]

◆ buildVisu() [2/2]

◆ createPrimitiveObject()

◆ createPropertyDefinitions()

◆ enableVisuType()

◆ getDefaultName()

◆ getObject()

◆ getObjects()

◆ getRobot()

◆ getRobots()

◆ getScopedDataLock()

◆ getScopedLock()

◆ getSyncTimestamp()

◆ getSyncVisuTime()

◆ getViewableScene()

◆ getVisualization()

◆ loadObject() [1/2]

◆ loadObject() [2/2]

◆ loadRobot()

◆ onConnectComponent()

◆ onDisconnectComponent()

◆ onExitComponent()

◆ onInitComponent()

◆ releaseResources()

◆ removeFloorVisualization()

◆ removeObjectVisualization()

◆ removeRobotVisualization()

◆ removeVisualization() [1/2]

◆ removeVisualization() [2/2]

◆ reportSceneUpdated()

◆ setMutex()

◆ showBaseCoord()

◆ synchronizeFloor()

◆ synchronizeObjects()

◆ synchronizeRobots()

◆ synchronizeSceneObjectPoses()

◆ synchronizeVisualizationData()

Member Data Documentation

◆ addedRobotVisualizations

◆ addedVisualizations

◆ baseCoordVisu

◆ coinVisu

◆ currentSceneData

◆ dynamicsVisu

◆ floorVisu

◆ lastSceneData

◆ modelType

◆ mutex

◆ mutexData

◆ sceneViewableSep

◆ synchronize2TimeMS